Performance Analysis of Fractional Order Terminal SMC for the Half Car Model with Random Road Input
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ORIGINAL PAPER
Performance Analysis of Fractional Order Terminal SMC for the Half Car Model with Random Road Input Subramanian Rajendiran1 · P. Lakshmi2 Received: 20 February 2019 / Revised: 17 May 2019 / Accepted: 23 June 2019 © Krishtel eMaging Solutions Private Limited 2019
Abstract Purpose The vehicle’s active suspension system is useful to reduce the vibration and to increase the travel quality. Methods In this paper, the fractional order terminal sliding mode controller (FOTSMC) is proposed to reduce the head acceleration of the driver and passenger with the half car model. The seat suspension and primary suspension is helping the vehicle to reduce it’s vibration. Results The performance of the proposed SMC is compared with other SMCs and passive system. The performance of the primary suspension is compared with and without the seat suspension. Conclusion From the simulated results, the FOTSMC performs better than the fractional order SMC, terminal SMC, and passive system for all the cases. The primary suspension with a saturation limit and seat suspension performs better than the performance of the primary suspension without the saturation limit. Keywords Active suspension system · Fractional order terminal sliding mode controller · Random road · ISO8606 · ISO2631 · Stability analysis · Vibration dose value
Introduction Ride comfort of the passenger in a car is an important aspect to be analysed. International Standard Organization (ISO) 2631 define the ranges of uncomfort in terms of the frequency weighted root mean square values (FWRMS) of the head acceleration (HA). The active suspension system in a car is useful to reduce the vibration, car body acceleration (BA) and HA. The purpose of the suspension systems is to enhance the performance of the vehicle like ride comfort, suspension deflection, handling, static deflection, road holding etc. An actuator in the active suspension system generate a mechanical force based on control algorithm. To reduce * Subramanian Rajendiran [email protected] P. Lakshmi [email protected] 1
Department of Electonics and Instrumentation Engineering, Pondicherry Engineeirng College, Puducherry 605 014, India
Department of Electrical Engineering, CEG, Anna University, Chennai 600 025, India
2
the effect of vibration, the control forces are supplied in the opposite direction of the vibration. Since the ride comfort depends on the vertical vibration, the quarter car model (QCM) [1, 2] is commonly considered by the researchers. Along with the Quarter car model driver dynamics are also considered in Ref. [3]. In the half car model (HCM) the interaction between the front and rear wheel can be analysed [4], because the front and the rear wheel arrangements are connected to the ends of the sprung mass. Though, the effect of the road disturbance in the rear wheel to the front portion of the sprung mass is minimum, it should be accounted to produce a better control force. Therefore, the control force applied to the front actuator is based on the road input of the
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